In this paper, we propose a general control method via the intelligent algorithm for a planar R-type underactuated robot. This control method solves the unified control problem of R-type underactuated manipulator. Meanwhile, the proposed method is also applicable to cases of nonzero initial velocity and interference rejection. Our total control program includes two stages. In the first stage, we design the trajectory based on the states of the actuated link, and then the controller is designed to track the planned trajectory to realize the objective of the actuated link. In the second stage, the trajectory with adjustable parameters is planned for the actuated link. Then, the adjustable parameters are calculated by the intelligent algorithm based on the underactuated constraints. Subsequently, the controller is designed to track the second trajectory to realize the objective of the actuated manipulator and the underactuated manipulator. Finally, the performance of the proposed method is verified through simulations.

This article proposes a comprehensive stable control strategy for the planar multi-link underactuated manipulator (PMLUM), considering several uncertainties. According to the nilpotent approximation property, the control procedure is split into two stages. In the first stage of control, we postulate the idea of model degradation, reducing the PMLUM to a planar virtual Pendubot (PVP). This occurs by controlling the active link (AL) to a specific desired position and the passive link (PL) moves along with it. When the AL moves to the desired position, the second phase of control is entered. Meanwhile, all ALs are regarded as a whole, so the PMLUM can be regarded as a mechanical arm with 2-DOF. In the second stage of control, due to the nilpotent approximation feature of the PVP, the PVP is guided to the desired angle using the iterative steering technique. Simulation experiments are carried out on active–active–passive (AAP) and active–active–active–passive (AAAP) systems under major uncertainties, which contain initial velocity and torque disturbances. The final results validate the effectiveness of the method proposed.

Aiming at the problems of jittering waveforms and poor power quality caused by external disturbances during the operation of a dual-pulse-width-modulation (PWM) converter, an improved terminal sliding mode control and an improved active disturbance rejection control (ADRC) are investigated. The method is based on mathematical models of grid-side and machine-side converters to design the controllers separately, and the balance between the two sides is maintained by the capacitor voltage. An improved terminal fuzzy sliding mode control and equivalent input disturbance (EID)-error-estimation-based active disturbance rejection control are presented on the grid side to improve the voltage response rate, and an improved support vector modulation (SVM)–direct torque control (DTC)–ADRC method is developed on the motor side to improve the robustness against disturbances. Finally, theoretical simulation experiments are built in MATLAB R2023a/Simulink to verify the effectiveness and superiority of this method.